Terminals and methods for dimensioning objects

ABSTRACT

A terminal for measuring at least one dimension of an object includes at least one imaging subsystem and an actuator. The at least one imaging subsystem includes an imaging optics assembly operable to focus an image onto an image sensor array. The imaging optics assembly has an optical axis. The actuator is operably connected to the at least one imaging subsystem for moving an angle of the optical axis relative to the terminal. The terminal is adapted to obtain first image data of the object and is operable to determine at least one of a height, a width, and a depth dimension of the object based on effecting the actuator to change the angle of the optical axis relative to the terminal to align the object in second image data with the object in the first image data, the second image data being different from the first image data.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims the benefit of U.S. patent applicationSer. No. 13/471,973 for Terminals and Methods for Dimensioning Objectsfiled May 15, 2012 (and published Nov. 21, 2013 as U.S. PatentApplication Publication No. 2013/0307964), now U.S. Pat. No. 10,007,858.Each of the foregoing patent application, patent publication, and patentis hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to imaging terminals generally, and inparticular to imaging terminals for dimensioning objects.

BACKGROUND OF THE INVENTION

In the field of transportation and shipping of goods, it can be usefulto perform spatial measurements with respect to packages or otherobjects, e.g., goods that are stacked on a pallet or in the interior ofa truck or shipping container. Packages and other objects often includebarcode symbols including one or more of one dimensional (1D) barcodes,stacked 1D barcodes, and two dimensional (2D) barcodes.

U.S. Pat. No. 7,726,575 issued to Wang et al. discloses an indiciareading terminal having spatial measurement functionality. The indiciareading terminal can execute a spatial measurement mode of operation inwhich the indicia reading terminal can determine a dimension of anarticle in a field of view of the indicia reading terminal and/ordetermine other spatial information. In determining a dimension of anarticle, the indicia reading terminal can utilize setup data determinedin a setup mode of operation and/or data determined utilizing the setupdata.

U.S. Patent Application Publication No. 2011/0279916 by Brown et al.discloses a shaped memory alloy (SMA) actuation apparatus comprises acamera lens element supported on a support structure by a plurality offlexures for focusing or zooming.

U.S. Pat. No. 7,307,653 issued to Dutta discloses a handheld device forstabilizing an image captured by an optical lens of a micro cameraintegral with the handheld device. Motion sensors sense motion of thedevice and are used to cause movement of the micro camera tosubstantially compensate for the sensed movement so as to maintain asteady, focused image to be displayed by a display on the handhelddevice or elsewhere, such as a remote display. The micro camera is movedby one or more motion actuators which move the camera in a horizontalplane substantially perpendicular to an axis of the lens of the cameraand/or move the camera so as to pivot the lens axis. The actuator mayinclude a piezo actuator, a MEMS actuator, a shaped memory alloy (SMA)which changes in length in response to an electrical bias, and othertypes of electromechanical actuators.

There is a need for further imaging terminals generally, and inparticular to an imaging terminal for dimensioning objects.

SUMMARY OF THE INVENTION

In a first aspect, the present invention provides a terminal formeasuring at least one dimension of an object. The terminal includes atleast one imaging subsystem and an actuator. The at least one imagingsubsystem includes an imaging optics assembly operable to focus an imageonto an image sensor array. The imaging optics assembly has an opticalaxis. The actuator is operably connected to the at least one imagingsubsystem for moving an angle of the optical axis relative to theterminal. The terminal is adapted to obtain first image data of theobject and is operable to determine at least one of a height, a width,and a depth dimension of the object based on effecting the actuator tochange the angle of the optical axis relative to the terminal to alignthe object in second image data with the object in the first image data,the second image data being different from the first image data.

In a second aspect, the present invention provides a method formeasuring at least one dimension of an object. The method includesobtaining a first image data of the object, moving an optical axis of atleast one imaging subsystem to align second image data of the objectwith the first image data, the second image data being different fromthe first image data, and determining at least one of a height, a width,and a depth dimension of the object based on moving the optical axis ofthe at least one imaging subsystem to align the image of the object inthe second image data with the image of the object in the first imagedata.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter which is regarded as the invention is particularlypointed out and distinctly claimed in the concluding portion of thespecification. The invention, however, may best be understood byreference to the following detailed description of various embodimentsand the accompanying drawings in which:

FIG. 1 is a schematic physical form view of one embodiment of a terminalin accordance with aspects of the present invention;

FIG. 2 is a block diagram of the terminal of FIG. 1;

FIG. 3 is a diagrammatic illustration of one embodiment of an imagingsubsystem for use in the terminal of FIG. 1;

FIG. 4 is a flowchart illustrating one embodiment of a method formeasuring at least one dimension of an object using the terminal of FIG.1;

FIG. 5 is an illustration of a first image of the object obtained usingthe fixed imaging subsystem of FIG. 3;

FIG. 6 is a view of the terminal of FIG. 1 illustrating on the displaythe object disposed in the center of the display for use in obtainingthe first image of FIG. 5;

FIG. 7 is a second aligned image of the object obtained using themovable imaging subsystem of FIG. 3;

FIG. 8 is a diagrammatic illustration of the geometry between an objectand the image of the object on an image sensor array;

FIG. 9 is a diagrammatic illustration of another embodiment of animaging subsystem for use in the terminal of FIG. 1, which terminal mayinclude an aimer;

FIG. 10 is a diagrammatic illustration of another embodiment of a singlemovable imaging subsystem and actuator for use in the terminal of FIG.1;

FIG. 11 is an elevational side view of one implementation of an imagingsubsystem and actuator for use in the terminal of FIG. 1;

FIG. 12 is a top view of the imaging subsystem and actuator of FIG. 11;and

FIG. 13 is a timing diagram illustrating one embodiment for use indetermining one or more dimensions and for decoding a decodableperformed by the indicia reading terminal of FIG. 1.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 illustrates one embodiment of a terminal 1000 operable formeasuring at least one dimension of an object 10 in accordance withaspects of the present invention. For example, terminal 1000 maydetermine a height H, a width W, and a depth D of an object. Inaddition, terminal 1000 may be operable to read a decodable indicia 15such as a barcode disposed on the object. For example, the terminal maybe suitable for shipping applications in which an object such as apackage is subject to shipping from one location to another location.The dimension (dimensioning) information and other measurement (e.g.,volume measurement information) respecting object 10 may be used, e.g.,to determine a cost for shipping a package or for determining a properarrangement of the package in a shipping container.

In one embodiment, a terminal in accordance with aspects of the presentinvention may include at least one or more imaging subsystems such asone or more camera modules and an actuator to adjust the pointing angleof the one or more camera modules to provide true stereo imaging. Theterminal may be operable to attempt to determine at least one of aheight, a width, and a depth based on effecting the adjustment of thepointing angle of the one or more camera modules.

For example, a terminal in accordance with aspects of the presentinvention may include at least one or more imaging subsystems such ascamera modules and an actuator based on wires of nickel-titanium shapememory alloy (SMA) and an associated control and heating ASIC(application-specific integrated circuit) to adjust the pointing angleof the one or more camera modules to provide true stereo imaging. Usingtrue stereo imaging, the distance to the package can be determined bymeasuring the amount of drive current or voltage drop across the SMAactuator. The terminal may be operable to attempt to determine at leastone of a height, a width, a depth, based on the actuator effecting theadjustment of the pointing angle of the one or more camera modules, themeasured distance, and the obtained image of the object.

With reference still to FIG. 1, terminal 1000 in one embodiment mayinclude a trigger 1220, a display 1222, a pointer mechanism 1224, and akeyboard 1226 disposed on a common side of a hand held housing 1014.Display 1222 and pointer mechanism 1224 in combination can be regardedas a user interface of terminal 1000. Terminal 1000 may incorporate agraphical user interface and may present buttons 1230, 1232, and 1234corresponding to various operating modes such as a setup mode, a spatialmeasurement mode, and an indicia decode mode, respectively. Display 1222in one embodiment can incorporate a touch panel for navigation andvirtual actuator selection in which case a user interface of terminal1000 can be provided by display 1222. Hand held housing 1014 of terminal1000 can in another embodiment be devoid of a display and can be in agun style form factor. The terminal may be an indicia reading terminaland may generally include hand held indicia reading terminals, fixedindicia reading terminals, and other terminals. Those of ordinary skillin the art will recognize that the present invention is applicable to avariety of other devices having an imaging subassembly which may beconfigured as, for example, mobile phones, cell phones, satellitephones, smart phones, telemetric devices, personal data assistants, andother devices.

FIG. 2 depicts a block diagram of one embodiment of terminal 1000.Terminal 1000 may generally include at least one imaging subsystem 900,an illumination subsystem 800, hand held housing 1014, a memory 1085,and a processor 1060. Imaging subsystem 900 may include an imagingoptics assembly 200 operable for focusing an image onto an image sensorpixel array 1033. An actuator 950 is operably connected to imagingsubsystem 900 for moving imaging subsystem 900 and operably connected toprocessor 1060 (FIG. 2) via interface 952. Hand held housing 1014 mayencapsulate illumination subsystem 800, imaging subsystem 900, andactuator 950. Memory 1085 is capable of storing and or capturing a frameof image data, in which the frame of image data may represent lightincident on image sensor array 1033. After an exposure period, a frameof image data can be read out. Analog image signals that are read out ofarray 1033 can be amplified by gain block 1036 converted into digitalform by analog-to-digital converter 1037 and sent to DMA unit 1070. DMAunit 1070, in turn, can transfer digitized image data into volatilememory 1080. Processor 1060 can address one or more frames of image dataretained in volatile memory 1080 for processing of the frames fordetermining one or more dimensions of the object and/or for decoding ofdecodable indicia represented on the object.

FIG. 3 illustrates one embodiment of the imaging subsystem employable interminal 1000. In this exemplary embodiment, an imaging subsystem 2900may include a first fixed imaging subsystem 2210, and a second movableimaging subsystem 2220. An actuator 2300 may be operably connected toimaging subsystem 2220 for moving imaging subsystem 2220. First fixedimaging subsystem 2210 is operable for obtaining a first image or frameof image data of the object, and second movable imaging subsystem 2220is operable for obtaining a second image or frame of image data of theobject. Actuator 2300 is operable to bring the second image intoalignment with the first image as described in greater detail below. Inaddition, either the first fixed imaging subsystem 2210 or the secondmovable imaging subsystem 2220 may also be employed to obtain an imageof decodable indicia 15 (FIG. 1) such as a decodable barcode.

FIG. 3-7 illustrate one embodiment of the terminal in a spatialmeasurement mode. For example, a spatial measurement mode may be madeactive by selection of button 1232 (FIG. 1). In a spatial measurementoperating mode, terminal 1000 (FIG. 1) can perform one or more spatialmeasurements, e.g., measurements to determine one or more of a terminalto target distance (z distance) or a dimension (e.g., h, w, d) of anobject or another spatial related measurement (e.g., a volumemeasurement, a distance measurement between any two points).

Initially, at block 602 as shown in FIG. 4, terminal 10 may obtain orcapture first image data, e.g., at least a portion of a frame of imagedata such as a first image 100 using fixed imaging subsystem 2210 (FIG.3) within a field of view 20 (FIGS. 1 and 5). For example, a user mayoperate terminal 1000 to display object 10 using fixed imaging subsystem2210 (FIG. 3) in the center of display 1222 as shown in FIG. 6. Terminal1000 can be configured so that block 602 is executed responsively totrigger 1220 (FIG. 1) being initiated. With reference again to FIG. 3,imaging the object generally in the center of the display results whenthe object is aligned with an imaging axis or optical axis 2025 of fixedimaging subsystem 2210. For example, the optical axis may be a line oran imaginary line that defines the path along which light propagatesthrough the system. The optical axis may pass through the center ofcurvature of the imaging optics assembly and may be coincident with amechanical axis of imaging subsystem 2210.

With reference again to FIG. 4, at 604, terminal 1000 may be adapted tomove an optical axis 2026 (FIG. 3) of movable imaging subsystem 2220(FIG. 3) using actuator 2300 (FIG. 3) to align second image data, e.g.,at least a portion of a frame of image data such as a second image 120using movable imaging subsystem 2220 (FIG. 3) within a field of view 20(FIGS. 1 and 7) with the first image data. As shown in FIG. 3, opticalaxis 2026 of imaging subsystem 2220 may be pivoted, tilted or deflected,for example in the direction of double-headed arrow R1 in response toactuator 2300 to align the second image of the object with the object inthe first image.

For example, the terminal may include a suitable software programemploying a subtraction routine to determine when the image of theobject in the second image data is aligned with the object in the firstimage data. The closer the aligned images of the object are, theresulting subtraction of the two images such as subtracting theamplitude of the corresponding pixels of the imagers will become smalleras the images align and match. The entire images of the object may becompared, or a portion of the images of the object may be compared.Thus, the better the images of the object are aligned, the smaller thesubtracted difference will be.

A shown in FIG. 4, at 606, an attempt to determine at least one of aheight, a width, and a depth dimension of the object is made based onmoving the optical axis of the movable imaging subsystem to align theimage of the object in the second image data with the image of theobject in the first image data. For example, the position of the angleof the optical axis is related to the distance between the terminal andthe object, and the position of the angle of the optical axis and/or thedistance between the terminal and the object may be used in combinationwith the number of pixels used for imaging the object in the imagesensor array to the determine the dimensions of the object.

With reference again to FIG. 3, the angle of the optical axis of themovable imaging subsystem relative to the terminal is related to thedistance from the movable imaging subsystem (e.g., the front of theimages sensor array) to the object (e.g., front surface, point, edge,etc.), and the angle of the optical axis of the movable imagingsubsystem relative to the terminal is related to the distance from thefixed imaging subsystem (e.g., the front of the images sensor array) tothe object (e.g., front surface, point, edge, etc.).

For example, the relationship between an angle θ of the optical axis ofthe movable imaging subsystem relative to the terminal, a distance Afrom the fixed imaging subsystem to the object, and a distance C betweenthe fixed imaging subsystem and the movable imaging subsystem may beexpressed as follows:

tan θ=A/C.

The relationship between angle θ of the optical axis of the movableimaging subsystem relative to the terminal, a distance B from the fixedimaging subsystem to the object, and distance C between the fixedimaging subsystem and the movable imaging subsystem may be expressed asfollows:

cos θ=C/B.

With reference to FIG. 8, the actual size of an object relative to thesize of the object observed on an image sensor array may be generallydefined as follows:

$\frac{h}{f} = \frac{H}{D}$

where h is a dimension of the object (such as height) of the object onthe image sensor array, f is focal length of the imaging optics lens, His a dimension of the actual object (such as height), and D is distancefrom the object to the imaging optic lens.

With reference to measuring, for example a height dimension, knowing thevertical size of the imaging sensor (e.g., the height in millimeters orinches) and number of pixels vertically disposed along the imagingsensor, the height of the image of the object occupying a portion of theimaging sensor would be related to a ratio of the number of pixelsforming the imaged object to the total pixels disposed vertically alongthe image sensor.

For example, a height of an observed image on the imaging senor may bedetermined as follows:

$h = {\frac{{observed}\mspace{14mu} {object}\mspace{14mu} {image}\mspace{14mu} {height}\mspace{14mu} ({pixels})}{{height}\mspace{14mu} {of}\mspace{14mu} {sensor}\mspace{14mu} ({pixels})} \times {height}\mspace{14mu} {of}\mspace{14mu} {sensor}\mspace{14mu} \left( {{e.g.\mspace{14mu} {in}}\mspace{14mu} {inches}} \right)}$

In one embodiment, an actual height measurement may be determined asfollows:

$H = \frac{D \times h}{f}$

For example, where an observed image of the object is 100 pixels high,and a distance D is 5 feet, the actual object height would be greaterthan when the observed image of the object is 100 pixels high, and adistance D is 2 feet. Other actual dimensions (e.g., width and depth) ofthe object may be similarly obtained.

From the present description, it will be appreciated that the terminalmaybe setup using a suitable setup routine that is accessed by a user orby a manufacturer for coordinating the predetermined actual object todimensioning at various distances, e.g., coordinate a voltage or currentreading required to effect the actuator to align the object in thesecond image with the image of the object in the first image, to createa lookup table. Alternatively, suitable programming or algorithmsemploying, for example, the relationships described above, may beemployed to determine actual dimensions based on the number of pixelsobserved on the imaging sensor. In addition, suitable edge detection orshape identifier algorithms or processing may be employed with analyzingstandard objects, e.g., boxes, cylindrical tubes, triangular packages,etc., to determine and/or confirm determined dimensional measurements.

FIG. 9 illustrates another embodiment of an imaging subsystem employablein terminal 1000 (FIG. 1). Alignment of the second image may also beaccomplished using a projected image pattern P from an aimer onto theobject to determine the dimensions of the object. In activating theterminal, an aimer such as a laser aimer may project an aimer patternonto the object. The projected aimer pattern may be a dot, point, orother pattern. The imaged object with the dot in the second image may bealigned, e.g., the actuator effective to move the movable imagingsubsystem so that the laser dot on the imaged second image aligns withthe laser dot in the first image. The aimer pattern may be orthogonallines or a series of dots that a user may be able to align adjacent toor along one or more sides or edges such as orthogonal sides or edges ofthe object.

In this exemplary embodiment, an imaging subsystem 3900 may include afirst fixed imaging subsystem 3210, and a second movable imagingsubsystem 3220. In addition, terminal 1000 (FIG. 1) may include anaiming subsystem 600 (FIG. 2) for projecting an aiming pattern onto theobject, in accordance with aspects of the present invention. An actuator3300 may be operably attached to imaging subsystem 3220 for movingimaging subsystem 3220. First fixed imaging subsystem 3210 is operablefor obtaining a first image of the object having an aimer pattern P suchas a point or other pattern. Second movable imaging subsystem 3220 isoperable for obtaining a second image of the object. Actuator 3300 isoperable to bring the second image into alignment with the first imagebe aligning point P in the second image with point p in the secondimage. For example, an optical axis 3026 of imaging subsystem 3220 maybe pivoted, tilted or deflected, for example in the direction ofdouble-headed arrow R2 in response to actuator 3300 to align the secondimage of the abject with the object in the first image. In addition,either the first fixed imaging subsystem 3210, or the second movableimaging subsystem 3220 may also be employed to obtain an image ofdecodable indicia 15 (FIG. 1) such as a decodable barcode.

FIG. 10 illustrates another embodiment of an imaging subsystememployable in terminal 1000 (FIG. 1). In this embodiment, an imagingsubsystem 4900 may be employed in accordance with aspects of the presentinvention. For example, an imaging subsystem 4900 may include a movableimaging subsystem 4100. An actuator 4300 may be operably attached toimaging subsystem 4100 for moving imaging subsystem 4100 from a firstposition to a second position remote from the first position. Movableimaging subsystem 4100 is operable for obtaining a first image of theobject at the first position or orientation, and after taking a firstimage, moved or translate the movable imaging subsystem to a secondlocation or orientation such as in the direction of arrow L1 usingactuator 4300 to provide a distance L between the first position and thesecond position prior to aligning the object and obtaining a secondimage of the object. Actuator 4300 is also operable to bring the secondimage into alignment with the first image. For example, an optical axis4026 of imaging subsystem 4100 may be pivoted, tilted or deflected, forexample in the direction of double-headed arrow R3 in response toactuator 4100 to align the second image of the object with the object inthe first image. As noted above, terminal 1000 (FIG. 1) may include anaiming subsystem 600 (FIG. 2) for projecting an aiming pattern onto theobject in combination with imaging subsystem 4900. In addition, themovable imaging subsystem 4100 may also be employed to obtain an imageof decodable indicia 15 (FIG. 1) such as a decodable barcode.

From the present description of the various imaging subsystems andactuators, it will be appreciated that the second aligned image beperformed in an operable time after the first image so that the effectof the user holding and moving the terminal when obtaining the images orthe object moving when obtaining the image does not result in errors indetermining the one or more dimensions of the object. It is desirableminimize the time delay between the first image and the second alignedimage. For example, it may be suitable that the images be obtainedwithin about 0.5 second or less, or possibly within about ⅛ second orless, about 1/16 second or less, or about 1/32 second or less.

With reference to FIGS. 3, 8, and 9, the actuators employed in thevarious embodiments may comprise one or more actuators which arepositioned in the terminal to move the movable imagining subsystem inaccordance with instructions received from processor 1060 (FIG. 2).Examples of a suitable actuator include a shaped memory alloy (SMA)which changes in length in response to an electrical bias, a piezoactuator, a MEMS actuator, and other types of electromechanicalactuators. The actuator may allow for moving or pivoting the opticalaxis of the imaging optics assembly, or in connection with the actuatorin FIG. 10, also moving the imaging subsystem from side-to-side along aline or a curve.

As shown in FIGS. 11 and 12, an actuator 5300 may comprise fouractuators 5310, 5320, 5330, and 5430 disposed beneath each corner of animaging subsystem 5900 to movable support the imaging subsystem on acircuit board 5700. The actuators may be selected so that they arecapable of compressing and expanding and, when mounted to the circuitboard, are capable of pivoting the imaging subsystem relative to thecircuit board. The movement of imaging subsystem by the actuators mayoccur in response to a signal from the processor. The actuators mayemploy a shaped memory alloy (SMA) member which cooperates with one ormore biasing elements 5350 such as springs, for operably moving theimaging subsystem. In addition, although four actuators are shown asbeing employed, more or fewer than four actuators may be used. Theprocessor may process the comparison of the first image to the observedimage obtained from the movable imaging subsystem, and based on thecomparison, determine the required adjustment of the position of themovable imaging subsystem to align the object in the second image withthe obtained image in the first obtained image.

In addition, the terminal may include a motion sensor 1300 (FIG. 2)operably connected to processor 1060 (FIG. 2) via interface 1310 (FIG.2) operable to remove the effect of shaking due to the user holding theterminal at the same time as obtaining the first image and secondaligned image which is used for determine one of more dimensions of theobject as described above. A suitable system for use in the above notedterminal may include the image stabilizer for a microcamera disclosed inU.S. Pat. No. 7,307,653 issued to Dutta, the entire contents of whichare incorporated herein by reference.

The imaging optics assembly may employ a fixed focus imaging opticsassembly. For example, the optics may be focused at a hyperfocaldistance so that objects in the images from some near distance toinfinity will be sharp. In the present invention, the imaging opticsassembly may be focused at a distance of 15 inches or greater, in therange of 3 or 4 feet distance, or at other distances. Alternatively, theimaging optics assembly may comprise an autofocus lens. The presentinvention may include a suitable shape memory alloy actuator apparatusfor controlling an imaging subassembly such as a microcamera disclosedin U.S. Pat. No. 7,974,025 by Topliss, the entire contents of which areincorporated herein by reference.

From the present description, it will be appreciated that the presentinvention may be operably employed to separately obtain images anddimensions of the various sides of an object, e.g., two or more of afront elevational view, a side elevational view, and a top view, may beseparately obtained by a user, similar to measuring an object as onewould with a ruler.

The present invention may include a suitable autofocusing microcamerasuch as a microcamera disclosed in U.S. Patent Application PublicationNo. 2011/0279916 by Brown et al., the entire contents of which areincorporated herein by reference.

In addition, it will be appreciated that the described imagingsubsystems in the embodiments shown in FIGS. 3, 9, and 10, may employfluid lenses or adaptive lenses as known in the art. For example, afluid lens or adaptive lens may comprise an interface between two fluidshaving dissimilar optical indices. The shape of the interface can bechanged by the application of external forces so that light passingacross the interface can be directed to propagate in desired directions.As a result, the optical characteristics of a fluid lens, such its focallength and the orientation of its optical axis, can be changed. With useof a fluid lens or adaptive lens, for example, an actuator may beoperable to apply pressure to the fluid to change the shape of the lens.In another embodiments, an actuator may be operable to apply a dcvoltage across a coating of the fluid to decrease its water repellencyin a process called electrowetting to change the shape of the lens. Thepresent invention may include a suitable fluid lens as disclosed in U.S.Pat. No. 8,027,096 issued to Feng et al., the entire contents of whichare incorporated herein by reference.

With reference to FIG. 13, a timing diagram may be employed forobtaining a first image of the object for use in determining one or moredimensions as described above, and also used for decoding a decodableindicia disposed on an object using for example, the first imagingsubassembly. At the same time or generally simultaneously afteractivation of the first imaging subassembly, the movable subassembly andactuator may be activated to determine one or more dimensions asdescribed above. For example, the first frame of image data of theobject using the first imaging subassembly may be used in combinationwith the aligned image of the object using the movable imagingsubsystem.

A signal 7002 may be a trigger signal which can be made active byactuation of trigger 1220 (FIG. 1), and which can be deactivated byreleasing of trigger 1220 (FIG. 1). A trigger signal may also becomeinactive after a time out period or after a successful decode of adecodable indicia.

A signal 7102 illustrates illumination subsystem 800 (FIG. 2) having anenergization level, e.g., illustrating an illumination pattern whereillumination or light is alternatively turned on and off. Periods 7110,7120, 7130, 7140, and 7150 illustrate where illumination is on, andperiods 7115, 7125, 7135, and 7145 illustrate where illumination is off.

A signal 7202 is an exposure control signal illustrating active statesdefining exposure periods and inactive states intermediate the exposureperiods for an image sensor of a terminal. For example, in an activestate, an image sensor array of terminal 1000 (FIG. 1) is sensitive tolight incident thereon. Exposure control signal 7202 can be applied toan image sensor array of terminal 1000 (FIG. 1) so that pixels of animage sensor array are sensitive to light during active periods of theexposure control signal and not sensitive to light during inactiveperiods thereof. During exposure periods 7210, 7220, 7230, 7240, and7250, the image sensor array of terminal 1000 (FIG. 1) is sensitive tolight incident thereon.

A signal 7302 is a readout control signal illustrating the exposedpixels in the image sensor array being transferred to memory orsecondary storage in the imager so that the imager may be operable tobeing ready for the next active portion of the exposure control signal.In the timing diagram of FIG. 13, period 7410 may be used in combinationwith movable imaging subsystem to determine one or more dimensions asdescribed above. In addition, in the timing diagram of FIG. 13, periods7410, 7420, 7430, 7440, and 7450 are periods in which processer 1060(FIG. 2) may process one or more frames of image data. For example,periods 7410, 7420, 7430, and 7440 may correspond to one or moreattempts to decode decodable indicia in which the image resulted duringperiods when indicia reading terminal 1000 (FIG. 1) was illuminating thedecodable indicia.

With reference again to FIG. 2, indicia reading terminal 1000 mayinclude an image sensor 1032 comprising multiple pixel image sensorarray 1033 having pixels arranged in rows and columns of pixels,associated column circuitry 1034 and row circuitry 1035. Associated withthe image sensor 1032 can be amplifier circuitry 1036 (amplifier), andan analog to digital converter 1037 which converts image information inthe form of analog signals read out of image sensor array 1033 intoimage information in the form of digital signals. Image sensor 1032 canalso have an associated timing and control circuit 1038 for use incontrolling, e.g., the exposure period of image sensor 1032, gainapplied to the amplifier 1036, etc. The noted circuit components 1032,1036, 1037, and 1038 can be packaged into a common image sensorintegrated circuit 1040. Image sensor integrated circuit 1040 canincorporate fewer than the noted number of components. Image sensorintegrated circuit 1040 including image sensor array 1033 and imaginglens assembly 200 can be incorporated in hand held housing 1014.

In one example, image sensor integrated circuit 1040 can be providede.g., by an MT9V022 (752×480 pixel array) or an MT9V023 (752×480 pixelarray) image sensor integrated circuit available from Aptina Imaging(formerly Micron Technology, Inc.). In one example, image sensor array1033 can be a hybrid monochrome and color image sensor array having afirst subset of monochrome pixels without color filter elements and asecond subset of color pixels having color sensitive filter elements. Inone example, image sensor integrated circuit 1040 can incorporate aBayer pattern filter, so that defined at the image sensor array 1033 arered pixels at red pixel positions, green pixels at green pixelpositions, and blue pixels at blue pixel positions. Frames that areprovided utilizing such an image sensor array incorporating a Bayerpattern can include red pixel values at red pixel positions, green pixelvalues at green pixel positions, and blue pixel values at blue pixelpositions. In an embodiment incorporating a Bayer pattern image sensorarray, processor 1060 prior to subjecting a frame to further processingcan interpolate pixel values at frame pixel positions intermediate ofgreen pixel positions utilizing green pixel values for development of amonochrome frame of image data. Alternatively, processor 1060 prior tosubjecting a frame for further processing can interpolate pixel valuesintermediate of red pixel positions utilizing red pixel values fordevelopment of a monochrome frame of image data. Processor 1060 canalternatively, prior to subjecting a frame for further processinginterpolate pixel values intermediate of blue pixel positions utilizingblue pixel values. An imaging subsystem of terminal 1000 can includeimage sensor 1032 and lens assembly 200 for focusing an image onto imagesensor array 1033 of image sensor 1032.

In the course of operation of terminal 1000, image signals can be readout of image sensor 1032, converted, and stored into a system memorysuch as RAM 1080. Memory 1085 of terminal 1000 can include RAM 1080, anonvolatile memory such as EPROM 1082 and a storage memory device 1084such as may be provided by a flash memory or a hard drive memory. In oneembodiment, terminal 1000 can include processor 1060 which can beadapted to read out image data stored in memory 1080 and subject suchimage data to various image processing algorithms. Terminal 1000 caninclude a direct memory access unit (DMA) 1070 for routing imageinformation read out from image sensor 1032 that has been subject toconversion to RAM 1080. In another embodiment, terminal 1000 can employa system bus providing for bus arbitration mechanism (e.g., a PCI bus)thus eliminating the need for a central DMA controller. A skilledartisan would appreciate that other embodiments of the system busarchitecture and/or direct memory access components providing forefficient data transfer between the image sensor 1032 and RAM 1080 arewithin the scope and the spirit of the invention.

Reference still to FIG. 2 and referring to further aspects of terminal1000, imaging lens assembly 200 can be adapted for focusing an image ofdecodable indicia 15 located within a field of view 20 on the objectonto image sensor array 1033. A size in target space of a field of view20 of terminal 1000 can be varied in a number of alternative ways. Asize in target space of a field of view 20 can be varied, e.g., bychanging a terminal to target distance, changing an imaging lensassembly setting, changing a number of pixels of image sensor array 1033that are subject to read out. Imaging light rays can be transmittedabout an imaging axis. Lens assembly 200 can be adapted to be capable ofmultiple focal lengths and multiple planes of optimum focus (best focusdistances).

Terminal 1000 may include illumination subsystem 800 for illumination oftarget, and projection of an illumination pattern (not shown).Illumination subsystem 800 may emit light having a random polarization.The illumination pattern, in the embodiment shown can be projected to beproximate to but larger than an area defined by field of view 20 but canalso be projected in an area smaller than an area defined by a field ofview 20. Illumination subsystem 800 can include a light source bank 500,comprising one or more light sources. Light source assembly 800 mayfurther include one or more light source banks, each comprising one ormore light sources, for example. Such light sources can illustrativelyinclude light emitting diodes (LEDs), in an illustrative embodiment.LEDs with any of a wide variety of wavelengths and filters orcombination of wavelengths or filters may be used in variousembodiments. Other types of light sources may also be used in otherembodiments. The light sources may illustratively be mounted to aprinted circuit board. This may be the same printed circuit board onwhich an image sensor integrated circuit 1040 having an image sensorarray 1033 may illustratively be mounted.

Terminal 1000 can also include an aiming subsystem 600 for projecting anaiming pattern (not shown). Aiming subsystem 600 which can comprise alight source bank can be coupled to aiming light source bank power inputunit 1208 for providing electrical power to a light source bank ofaiming subsystem 600. Power input unit 1208 can be coupled to system bus1500 via interface 1108 for communication with processor 1060.

In one embodiment, illumination subsystem 800 may include, in additionto light source bank 500, an illumination lens assembly 300, as is shownin the embodiment of FIG. 2. In addition to or in place of illuminationlens assembly 300, illumination subsystem 800 can include alternativelight shaping optics, e.g. one or more diffusers, mirrors and prisms. Inuse, terminal 1000 can be oriented by an operator with respect to atarget, (e.g., a piece of paper, a package, another type of substrate,screen, etc.) bearing decodable indicia 15 in such manner that theillumination pattern (not shown) is projected on decodable indicia 15.In the example of FIG. 2, decodable indicia 15 is provided by a 1Dbarcode symbol. Decodable indicia 15 could also be provided by a 2Dbarcode symbol or optical character recognition (OCR) characters.Referring to further aspects of terminal 1000, lens assembly 200 can becontrolled with use of an electrical power input unit 1202 whichprovides energy for changing a plane of optimum focus of lens assembly200. In one embodiment, electrical power input unit 1202 can operate asa controlled voltage source, and in another embodiment, as a controlledcurrent source. Electrical power input unit 1202 can apply signals forchanging optical characteristics of lens assembly 200, e.g., forchanging a focal length and/or a best focus distance of (a plane ofoptimum focus of) lens assembly 200. A light source bank electricalpower input unit 1206 can provide energy to light source bank 500. Inone embodiment, electrical power input unit 1206 can operate as acontrolled voltage source. In another embodiment, electrical power inputunit 1206 can operate as a controlled current source. In anotherembodiment electrical power input unit 1206 can operate as a combinedcontrolled voltage and controlled current source. Electrical power inputunit 1206 can change a level of electrical power provided to(energization level of) light source bank 500, e.g., for changing alevel of illumination output by light source bank 500 of illuminationsubsystem 800 for generating the illumination pattern.

In another aspect, terminal 1000 can include a power supply 1402 thatsupplies power to a power grid 1404 to which electrical components ofterminal 1000 can be connected. Power supply 1402 can be coupled tovarious power sources, e.g., a battery 1406, a serial interface 1408(e.g., USB, RS232), and/or AC/DC transformer 1410.

Further, regarding power input unit 1206, power input unit 1206 caninclude a charging capacitor that is continually charged by power supply1402. Power input unit 1206 can be configured to output energy within arange of energization levels. An average energization level ofillumination subsystem 800 during exposure periods with the firstillumination and exposure control configuration active can be higherthan an average energization level of illumination and exposure controlconfiguration active.

Terminal 1000 can also include a number of peripheral devices includingtrigger 1220 which may be used to make active a trigger signal foractivating frame readout and/or certain decoding processes. Terminal1000 can be adapted so that activation of trigger 1220 activates atrigger signal and initiates a decode attempt. Specifically, terminal1000 can be operative so that in response to activation of a triggersignal, a succession of frames can be captured by way of read out ofimage information from image sensor array 1033 (typically in the form ofanalog signals) and then storage of the image information afterconversion into memory 1080 (which can buffer one or more of thesuccession of frames at a given time). Processor 1060 can be operativeto subject one or more of the succession of frames to a decode attempt.

For attempting to decode a barcode symbol, e.g., a one dimensionalbarcode symbol, processor 1060 can process image data of a framecorresponding to a line of pixel positions (e.g., a row, a column, or adiagonal set of pixel positions) to determine a spatial pattern of darkand light cells and can convert each light and dark cell patterndetermined into a character or character string via table lookup. Wherea decodable indicia representation is a 2D barcode symbology, a decodeattempt can comprise the steps of locating a finder pattern using afeature detection algorithm, locating matrix lines intersecting thefinder pattern according to a predetermined relationship with the finderpattern, determining a pattern of dark and light cells along the matrixlines, and converting each light pattern into a character or characterstring via table lookup.

Terminal 1000 can include various interface circuits for couplingvarious peripheral devices to system address/data bus (system bus) 1500,for communication with processor 1060 also coupled to system bus 1500.Terminal 1000 can include an interface circuit 1028 for coupling imagesensor timing and control circuit 1038 to system bus 1500, an interfacecircuit 1102 for coupling electrical power input unit 1202 to system bus1500, an interface circuit 1106 for coupling illumination light sourcebank power input unit 1206 to system bus 1500, and an interface circuit1120 for coupling trigger 1220 to system bus 1500. Terminal 1000 canalso include display 1222 coupled to system bus 1500 and incommunication with processor 1060, via an interface 1122, as well aspointer mechanism 1224 in communication with processor 1060 via aninterface 1124 connected to system bus 1500. Terminal 1000 can alsoinclude keyboard 1226 coupled to systems bus 1500 and in communicationwith processor 1060 via an interface 1126. Terminal 1000 can alsoinclude range detector unit 1210 coupled to system bus 1500 viainterface 1110. In one embodiment, range detector unit 1210 can be anacoustic range detector unit. Various interface circuits of terminal1000 can share circuit components. For example, a common microcontrollercan be established for providing control inputs to both image sensortiming and control circuit 1038 and to power input unit 1206. A commonmicrocontroller providing control inputs to circuit 1038 and to powerinput unit 1206 can be provided to coordinate timing between imagesensor array controls and illumination subsystem controls.

A succession of frames of image data that can be captured and subject tothe described processing can be full frames (including pixel valuescorresponding to each pixel of image sensor array 1033 or a maximumnumber of pixels read out from image sensor array 1033 during operationof terminal 1000). A succession of frames of image data that can becaptured and subject to the described processing can also be “windowedframes” comprising pixel values corresponding to less than a full frameof pixels of image sensor array 1033. A succession of frames of imagedata that can be captured and subject to the above described processingcan also comprise a combination of full frames and windowed frames. Afull frame can be read out for capture by selectively addressing pixelsof image sensor 1032 having image sensor array 1033 corresponding to thefull frame. A windowed frame can be read out for capture by selectivelyaddressing pixels or ranges of pixels of image sensor 1032 having imagesensor array 1033 corresponding to the windowed frame. In oneembodiment, a number of pixels subject to addressing and read outdetermine a picture size of a frame. Accordingly, a full frame can beregarded as having a first relatively larger picture size and a windowedframe can be regarded as having a relatively smaller picture sizerelative to a picture size of a full frame. A picture size of a windowedframe can vary depending on the number of pixels subject to addressingand readout for capture of a windowed frame.

Terminal 1000 can capture frames of image data at a rate known as aframe rate. A typical frame rate is 60 frames per second (FPS) whichtranslates to a frame time (frame period) of 16.6 ms. Another typicalframe rate is 30 frames per second (FPS) which translates to a frametime (frame period) of 33.3 ms per frame. A frame rate of terminal 1000can be increased (and frame time decreased) by decreasing of a framepicture size.

While the present invention has been described with reference to anumber of specific embodiments, it will be understood that the truespirit and scope of the invention should be determined only with respectto claims that can be supported by the present specification. Further,while in numerous cases herein wherein systems and apparatuses andmethods are described as having a certain number of elements it will beunderstood that such systems, apparatuses and methods can be practicedwith fewer than the mentioned certain number of elements. Also, while anumber of particular embodiments have been described, it will beunderstood that features and aspects that have been described withreference to each particular embodiment can be used with each remainingparticularly described embodiment.

1. A dimensioning system comprising: at least one imaging subsystem in aterminal, wherein the at least one imaging subsystem comprises animaging optics assembly operable to focus an image onto an image sensorarray, wherein the imaging optics assembly obtains a first image of atleast a portion of an object along a first optical axis and a secondimage of the portion of the object along a second optical axis; anactuator connected to the at least one imaging subsystem for moving theat least one imaging system relative to the terminal; a processorcommunicatively coupled to the at least one imaging subsystem and theactuator, wherein the processor is configured to determine at least oneof a height, a width, and a depth dimension of the object withtrigonometric relations based on a change of the angle of the secondoptical axis upon effecting the actuator to align the second image ofthe portion of the object with the first image of the portion of theobject.
 2. The dimensioning system of claim 1, wherein the actuatorcomprises at least one shaped memory alloy element operable for movingthe at least one imaging subsystem at an angle relative to the firstoptical axis.
 3. The dimensioning system of claim 1, wherein the atleast one imaging subsystem comprises a fixed imaging subsystem and amovable imaging subsystem.
 4. The dimensioning system of claim 1,wherein the at least one imaging subsystem comprises a single movableimaging subsystem, and wherein the single movable imaging subsystem ismovable from a first location to a second location different from thefirst location.
 5. The dimensioning system of claim 1, comprising anaimer for projecting an aiming pattern onto the object, and wherein theprocessor is configured to effect movement of the actuator to align atleast a portion of the aiming pattern on the object in the second imagewith at least a portion of the aiming pattern on the object in the firstimage.
 6. The dimensioning system of claim 1, wherein the processor isconfigured to attempt to determine at least one of the height, thewidth, and the depth dimension of the object based on current suppliedto the actuator for effecting alignment of the image of the object inthe second image with the image of the object in the first image.
 7. Thesystem of claim 1, wherein the processor is configured to attempt todetermine at least one of the height, the width, and the depth dimensionof the object based on voltage supplied to the actuator for effectingalignment of the image of the object in the second image with the imageof the object in the first image.
 8. The dimensioning system of claim 1,wherein the at least one imaging subsystem comprises a fixed focusedimaging subsystem.
 9. The dimensioning system of claim 1, wherein theprocessor is operable to obtain the first image and the second alignedimage in less than or equal to 0.5 second or less.
 10. The dimensioningsystem of claim 1, wherein the processor is configured to determine theheight, the width, and the depth dimensions of the object based onoperation of the terminal directed from a single direction relative tothe object.
 11. The dimensioning system of claim 1, wherein theprocessor is configured to determine at least two of the height, thewidth, and the depth dimensions of the object based on operation of theterminal directed from at least two orthogonal directions relative tothe object.
 12. The dimensioning system of claim 1, wherein theprocessor is configured to read an optically decodable indiciaassociated with the object with the at least one imaging subsystem. 13.The dimensioning system of claim 1, wherein the terminal comprises theat least one imaging system, the processor, and the actuator.
 14. Adimensioning system comprising: a terminal comprising a first imagingsubsystem and a second imaging subsystem, wherein: the first imagingsubsystem comprises a first imaging optics assembly operable to obtain afirst image of image data of an object, the first imaging opticsassembly having a first optical axis; and the second imaging subsystemcomprises a second imaging optics assembly operable to obtain a secondimage of image data of the object, the second imaging optics assemblyhaving a second optical axis; an actuator in the terminal connected tothe second imaging subsystem and operable to change the angle of thesecond optical axis relative to the terminal and align the second imageof the image data of the object with the first image of the image dataof the object; and a processor configured to determine at least one of aheight, a width and a depth dimension of the object with trigonometricrelations based on the change of the angle of the second optical axis.15. The dimensioning system of claim 14, wherein the actuator comprisesat least one shaped memory alloy element for effecting movement of thesecond imaging subsystem.
 16. The dimensioning system of claim 14,comprising an aimer for projecting an aiming pattern onto the object,and wherein the processor is configured to effect movement of theactuator to align at least a portion of the aiming pattern on the objectin the second image with at least a portion of the aiming pattern on theobject in the first image.
 17. The dimensioning system of claim 14,wherein each of the first and second imaging subsystem comprises a fixedfocused imaging subsystem.
 18. The dimensioning system of claim 14,wherein the processor is configured to obtain the first image and thesecond aligned image simultaneously.
 19. The dimensioning system ofclaim 14, wherein the processor is configured to read an opticallydecodable indicia associated with the object with one of the firstimaging subsystem or the second imaging subsystem.
 20. A dimensioningsystem comprising: at least one imaging subsystem in a terminal, whereinthe at least one imaging subsystem comprises an imaging optics assemblyoperable to focus an image onto an image sensor array, wherein theimaging optics assembly obtains a first image of at least a portion ofan object along a first optical axis and a second image of the portionof the object along a second optical axis; an actuator connected to theat least one imaging subsystem for moving the at least one imagingsystem relative to the terminal; a processor communicatively coupled tothe at least one imaging subsystem and the actuator, wherein theprocessor is configured to determine at least one of a height, a width,and a depth dimension of the object with trigonometric relations basedon a change of the angle of the second optical axis upon effecting theactuator to align the second image of the portion of the object with thefirst image of the portion of the object without moving the terminal.